feat(tier4_control_launch): remove unnecessary parameters

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Apr 23, 2022 · 4dfcf56 · 4dfcf56
1 parent ae8422b
commit 4dfcf56
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Showing 3 changed files with 2 additions and 9 deletions.
diff --git a/control/trajectory_follower_nodes/design/lateral_controller-design.md b/control/trajectory_follower_nodes/design/lateral_controller-design.md
@@ -53,7 +53,6 @@ AutonomouStuff Lexus RX 450h for under 40 km/h driving.
 
 | Name                                         | Type   | Description                                                                                                                                       | Default value |
 | :------------------------------------------- | :----- | :------------------------------------------------------------------------------------------------------------------------------------------------ | :------------ |
-| show_debug_info                              | bool   | display debug info                                                                                                                                | false         |
 | ctrl_period                                  | double | control period [s]                                                                                                                                | 0.03          |
 | traj_resample_dist                           | double | distance of waypoints in resampling [m]                                                                                                           | 0.1           |
 | enable_path_smoothing                        | bool   | path smoothing flag. This should be true when uses path resampling to reduce resampling noise.                                                    | true          |

diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
@@ -112,10 +112,7 @@ def launch_setup(context, *args, **kwargs):
             lon_controller_param,
             vehicle_info_param,
             {
-                "control_rate": LaunchConfiguration("control_rate"),
-                "show_debug_info": LaunchConfiguration("show_debug_info"),
                 "enable_smooth_stop": LaunchConfiguration("enable_smooth_stop"),
-                "enable_pub_debug": LaunchConfiguration("enable_pub_debug"),
             },
         ],
         extra_arguments=[{"use_intra_process_comms": LaunchConfiguration("use_intra_process")}],
@@ -261,13 +258,11 @@ def launch_setup(context, *args, **kwargs):
         lat_controller_loader = LoadComposableNodes(
             composable_node_descriptions=[lat_controller_component],
             target_container=container,
-            # condition=LaunchConfigurationEquals("lateral_controller_mode", "mpc"),
         )
     elif lateral_controller_mode == "pure_pursuit":
         lat_controller_loader = LoadComposableNodes(
             composable_node_descriptions=[pure_pursuit_component],
             target_container=container,
-            # condition=LaunchConfigurationEquals("lateral_controller_mode", "mpc"),
         )
 
     group = GroupAction(
@@ -354,12 +349,9 @@ def add_launch_arg(name: str, default_value=None, description=None):
     )
 
     # velocity controller
-    add_launch_arg("control_rate", "30.0", "control rate")
-    add_launch_arg("show_debug_info", "false", "show debug information")
     add_launch_arg(
         "enable_smooth_stop", "true", "enable smooth stop (in velocity controller state)"
     )
-    add_launch_arg("enable_pub_debug", "true", "enable to publish debug information")
 
     # vehicle cmd gate
     add_launch_arg("use_emergency_handling", "false", "use emergency handling")

diff --git a/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml b/planning/obstacle_stop_planner/config/obstacle_stop_planner.param.yaml
@@ -1,5 +1,7 @@
 /**:
   ros__parameters:
+    enable_slow_down: False
+
     stop_planner:
       stop_margin: 5.0 # stop margin distance from obstacle on the path [m]
       min_behavior_stop_margin: 2.0 # stop margin distance when any other stop point is inserted in stop margin [m]